JP4489865B2 - Press-type drilling handling device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a structure of a handling device for grasping a workpiece such as a flat steel, aligning a press puncher, and performing a drilling operation.
[0002]
[Prior art]
FIG. 13 shows an example of a steel segment that is conventionally used when tunnels or shafts are used. This steel segment 1 has a main girder 3 and a joint plate 5 welded in a frame shape, a skin plate 7 welded to the outside, and a vertical rib 9 attached to the inside. The main girder 3 and the joint plate 5 are provided with bolt holes 11 for connecting the steel segments 1 with bolts. In the figure, 13 is a reinforcing rib, and 15 is a hanging metal fitting.
[0003]
The main girder 3 and the joint plate 5 are manufactured by making holes in a flat steel. In this punching work, a press puncher was used, and an operator operated a flat bar as a workpiece one by one, pressed it against a stopper, aligned the flat bar, and then punched with the press puncher. When drilling a plurality of holes, the punching is performed by positioning a plurality of times, or a die having a plurality of punches is mounted on a press puncher.
[0004]
[Problems to be solved by the invention]
However, when a worker aligns a heavy workpiece by hand, the nerve is polished and heavy labor is required. In order to improve this, it is conceivable to use a high-accuracy conveying means for conveying the workpiece, and to accurately control the conveying position and align the press puncher. The conveying means becomes extremely expensive.
[0005]
The present invention has been made to solve the above problems, and an object of the present invention is to provide a press-type drilling handling device that can perform drilling work on a heavy work piece without depending on human hands and is not so expensive. To do.
[0006]
[Means for Solving the Problems]
In order to solve the above problems, the following invention is provided. The first invention is a handling device that, when carrying a workpiece with a conveying means and opening a hole with a press-type puncher and carrying it out with a conveying means, grips the workpiece and aligns with the press-type puncher,
A guide rail provided in parallel to the carrying means for carrying in, a device carriage provided on the guide rail so as to be movable, a first drive means for performing the movement of the device carriage, An arm that can be moved forward and backward toward the workpiece on the conveying means, a second driving means that performs this forward and backward movement, a chuck mechanism that is provided at the tip of the arm and grips the workpiece by hydraulic means, and the first driving means, A control means for controlling the second driving means and the hydraulic means,
The workpiece is flat steel, the transport means is a transport roller, and a positioning mechanism for positioning the loaded flat steel is provided near the end of the transport roller for loading. A front end stopper that receives the front end, a pusher that presses the flat bar in the width direction of the transport roller, and a width direction stopper that receives the pressed flat bar, and the first driving means is mounted on the apparatus carriage. A servo motor, a nut that is rotationally transmitted from the servo motor by a toothed pulley and a belt and rotatably attached to the device carriage, and a screw rod that is screwed to the nut and attached along the guide rail. And the arm is slidably supported with respect to the apparatus carriage, and can be moved forward and backward toward the work on the carrying means for carrying in. The second drive means includes a servo motor mounted on the apparatus carriage, and a rotational force transmitted from the servo motor by a toothed pulley and a belt, and the second drive means is rotatably attached to the apparatus carriage. The chuck mechanism includes a top chuck, a bottom chuck that meshes with the top chuck, and a direction to open the top and bottom chucks. An opening spring for energizing, and the control means reciprocates the first drive means or the second drive means to perform a drilling operation of holes arranged in a plurality of staggered areas. It is characterized by.
[0008]
In the second invention, the workpiece is flat steel, the transport means is a transport roller, and a positioning mechanism for positioning the loaded flat steel is provided near the end of the transport roller for loading. The positioning mechanism has a tip stopper that receives the tip of the flat bar, a pusher that presses the flat bar in the width direction of the conveying roller, and a width direction stopper that receives the pressed flat bar.
[0009]
The first driving means includes a servo motor mounted on the apparatus carriage, a nut that is rotationally transmitted from the servo motor by a toothed pulley and a belt, and is rotatably attached to the apparatus carriage. And a screw rod attached along the guide rail,
[0010]
The arm includes two support rods slidably supported with respect to the apparatus carriage and capable of moving forward and backward toward a workpiece on the carrying means for carrying in, and the second driving means includes the apparatus A servo motor mounted on the carriage, a nut that is rotationally transmitted from the servo motor by a toothed pulley and belt, and is rotatably attached to the apparatus carriage, and is screwed onto the nut and the tip is fixed to the arm. A screw rod,
[0011]
The chuck mechanism includes an upper chuck, a lower chuck that meshes with the upper chuck, and an open spring that biases the upper and lower chucks in the opening direction, and the control means is the first driving means, or A press-type drilling handling device, wherein the second driving means is reciprocated to perform a drilling operation of holes arranged in a plurality of staggered areas.
[0012]
The third invention is the press type drilling handling device, wherein the chuck mechanism is attached to the arm via an impact absorbing spring.
[0013]
According to a fourth aspect of the present invention, there is further provided a press-type handling apparatus for punching, wherein teeth are partially formed in a portion of the chuck mechanism that contacts the workpiece.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIGS.
First, in FIG. 1 to FIG. 3, a facility for performing the entire drilling process in which this apparatus is provided will be described.
[0015]
The workpiece is a flat steel 21 (FIG. 1) that becomes the joint plate 5 of the steel segment 1. In the conveying means, normal conveying rollers 23 and 25, which are not so high in accuracy of the conveying position, are arranged and used with a press puncher 24 interposed therebetween. Each roller 26 of the transport rollers 23 and 25 is driven by a roller drive motor 26A.
[0016]
A positioning mechanism for positioning the loaded flat steel 21 is provided in the vicinity of the end of the carrying roller 23 for carrying in. In this positioning mechanism, a tip stopper 27 (FIG. 2) that receives the tip of the flat bar 21 is moved up and down by a hydraulic cylinder 29.
[0017]
Further, on one side in the width direction of the transport roller 23, a plurality of pushers 31 (FIG. 1) for lowering the flat bar 21 in the width direction of the transport roller 23 are configured by an air cylinder. On the side opposite to the pusher 31, a width direction stopper 33 is provided for receiving the pressed flat bar 21. A handling device 35 (FIGS. 4 to 6) is provided in parallel with the transport rollers 23 and 25.
[0018]
(Device cart and first drive means)
First, two guide rails 37 are provided, and an apparatus carriage 39 is movably provided on these guide rails 37. That is, a total of four sliders 41 that slide on the respective guide rails 37 are provided, and the carriage frame 43 of the apparatus carriage 39 is mounted on the sliders 41.
[0019]
The first drive means for moving the device carriage 39 is such that a toothed belt 49 meshes with a toothed pulley 47 attached to a motor shaft 45 of a servo motor 43 mounted on the device carriage 39, and another toothed pulley. Mesh with 51. A nut 53 is fixed to the toothed pulley 51. The nut 53 is rotatably attached to the carriage frame 43. Further, the nut 53 is screwed onto the screw rod 55. The screw rod 55 is fixed in parallel between the two guide rails 37. A ball (not shown) is interposed between the nut 53 and the screw rod 55, and the movement is smooth.
[0020]
(Arm and second drive means)
A total of two support rods 59 are slidably supported on the left and right of the apparatus cart 39 toward the transport rollers 23 and 25 to form an arm. The front ends and rear ends of the two support rods 59 are stopped by a front end frame 61 and a rear end frame 63, respectively, and form a rectangular frame as a whole. At the center of the rear end frame 61 and the front end frame 63, the front end and the rear end of the screw rod 65 are fixed, respectively.
[0021]
The two support rods 59 are held by a linear bush 59A provided inside the apparatus carriage 39. Further, around each support rod 59 and around the screw rod 65, bellows 59B and 65A are provided between the front end frame 61 and the apparatus carriage 39, respectively, and dust and dirt are prevented from adhering. The
[0022]
A toothed pulley 71 is attached to a motor shaft 69 of a servo motor 67 that is mounted on the apparatus carriage 39 and constitutes the second drive means. A toothed belt 73 that meshes with the toothed pulley 71 is connected to another toothed pulley 75. Are engaged. A nut 77 is fixed to the toothed pulley 75. The nut 77 is rotatably attached to the device carriage 39. A screw rod 65 is screwed into the nut 77. A ball (not shown) is interposed between the screw rod 65 and the nut 77 to smooth the movement.
[0023]
(Chuck mechanism)
A chuck mechanism 79 is provided on the distal end frame 61 constituting the arm.
In other words, a U-shaped chuck frame 83 is provided on the front end frame 61 via an impact absorbing spring 81, and the left and right portions 85 of the U shape project forward. An upper jaw member 87 and a lower jaw member 89 are provided between the portions 85 so as to be able to contact and separate from each other.
[0024]
An opening spring 91 is provided between the upper and lower jaw members 87 and 89 to bias the members 87 and 89 away from each other. A pair of oilless bearings 93 is provided between the members 87 and 89 to make the opening and closing smooth. A hydraulic cylinder 95 is provided for operating in a direction to close both members 87 and 89.
[0025]
An upper chuck 97 is fixed to the lower side of the tip of the upper jaw member 87 by a bolt 99 passing through a bolt hole 98. Similarly, a lower chuck 101 is attached to the upper side of the tip of the lower jaw member 89 by a bolt 103 passing through a bolt hole 102.
[0026]
On the lower surface of the upper chuck 97, teeth 105 are formed on the left, right, and center. Similarly, teeth 105 are formed at the left and right centers of the lower chuck 103. These teeth 105 have a configuration in which a plurality of triangular pyramid-shaped protrusions 107 are arranged.
The left and right portions 85 of the chuck frame 83 are provided with a horizontal portion 85A along the upper chuck, and a proximity switch 85B is provided at each end of the horizontal portion 85A to check the workpiece.
[0027]
(Other)
As shown in FIG. 12, one punch 113 is incorporated in the upper die 111 of the press puncher 24, and one die 117 is incorporated in the lower die 115.
In addition, cable bears 119 and 121 for passing the electric cables for transmitting the power and control signals of the servo motors 43 and 67 to the device carriage 39 and the hydraulic cables for supplying the hydraulic pressure of the chuck mechanism 79 are provided. It is provided between the base frame 123 provided with the guide rail 37 and the device cart 39 (FIG. 5) and between the device cart 39 and the chuck mechanism 79 (FIG. 6).
[0028]
Below the base frame 123 is provided a pump 125 for supplying hydraulic pressure, air pressure, and the like (FIG. 5 and FIG. 6). Limit switches and proximity switches are provided at various locations as needed for control.
[0029]
(Operation)
In FIG. 1 or FIG. 2, when the flat bar 21 that is a workpiece is carried on the transport roller 23 from the right to the left, the tip of the flat bar 21 comes into contact with the tip stopper 27 and is positioned. Further, the pusher 31 works and is pushed in the width direction and is received by the width direction stopper 33. This positioning state is detected by a limit switch.
[0030]
When this detection is performed, the servo motor 67 which is the second drive means of the device carriage 39 that has been waiting at a predetermined position is operated, and the nut 77 is rotated via the toothed pulleys 71 and 75 and the belt 73, and the screw rod 65. Moves forward, the arm composed of the two support rods 59 moves forward.
[0031]
At this time, the chuck mechanism 79 at the tip of the arm is closed, and the flat bar 21 is pushed in the closed state to completely position the flat bar 21. In this state, the hydraulic cylinder 95 returns and the chuck mechanism 79 is opened by the biasing force of the opening spring 91. That is, the upper chuck 97 and the lower chuck 101 are separated in the vertical direction.
[0032]
After that, the servo motor 67 of the second driving means works again and the arm and chuck mechanism 79 moves forward. Then, the hydraulic cylinder 95 is operated, the chuck mechanism 79 is closed, and the flat steel 21 is grasped. At this time, the flat bar 21 can be firmly fixed by a large friction by the teeth 105 provided on the upper and lower chucks 97 and 101.
[0033]
Next, the servo motor 43 of the first drive means operates to rotate the nut 53 via the toothed pulleys 47 and 51 and the belt 49, and the device carriage 39 moves on the guide rail 37. Thereby, the flat bar 21 is moved to a predetermined position. At the same time, the servo motor 67 of the second drive means is also operated to align the flat bar 21 in the width direction.
[0034]
After the alignment is performed in this manner, the press puncher 24 works to make a hole. This alignment and drilling may be performed once or may be performed a plurality of times. Then, by controlling the rotation amounts of the servo motors 43 and 67 of the first drive and the second drive means, it is possible to drill holes arranged in a staggered manner. The servo motors 43 and 67 and the press puncher 24 are controlled by a control device (not shown).
[0035]
In this way, punching is performed and punching is performed in a state where the flat steel 21 is held by the chuck mechanism 79, but the impact force at the time of punching is absorbed by the impact absorbing spring 81, so that the chucking is performed directly. It is possible to prevent the bolts of the chuck mechanism 79 from being cracked or loosened by being transmitted to the mechanism 79 and having an adverse effect.
[0036]
When the predetermined drilling is performed, the servo motor 43 of the first drive means or the servo motor 67 of the second drive means works again, and the handling device aligns the flat steel 21 onto the carry roller 25 for carrying out. . Then, the hydraulic cylinder 95 returns, the upper chuck 97 and the lower chuck 101 are separated by the urging force of the opening spring 91, the flat steel 21 is detached, and is carried out by the conveying roller 25.
[0037]
(Other embodiments)
In the above embodiment, the teeth 105 of the upper chuck 97 are provided at three positions, that is, the left and right end portions and the center, but in other embodiments, the teeth 105 can be provided only on the left and right sides. In this way, the teeth 105 of the upper and lower chucks 97 and 101 are arranged in a staggered manner with the flat bar 21 interposed therebetween, and can be firmly grasped using the elasticity of the flat bar 21 and the upper and lower chucks. It is possible to prevent the scratches caused by the teeth 105 of 97 and 101 grabbing the same place.
[0038]
In the above embodiment, the number of teeth 105 between the upper chuck 97 and the lower chuck 101 is 3 to 1, but in other embodiments, 2 to 1, 1 to 2, 1 to 3, 3 pairs. such as 2,2 vs. 3,3 vs. 3,3 vs. 4,4 vs. 3,4 vs. 4 can be any number and combination.
[0039]
In the above embodiment, the press puncher 24 is provided with only a pair of punches 113 and dies 117. However, in other embodiments, a plurality of pairs of punches 113 and dies 117 may be provided. Is possible. In the case of a work having a thin plate pressure, by providing a plurality of pairs of punches 113 and dies 117, a plurality of holes can be formed by one punching.
[0040]
Further, in the above embodiment, the transport means was conveying rollers 23 and 25, in other embodiments, other transport means, for example may be a conveyor. In the above embodiment, the nuts 53 and 75 rotate and the screw rods 55 and 65 do not rotate in the driving means. However, in other embodiments, this relationship is reversed and the nuts 73 and 754 are replaced by the device. It is good also as what fixes to the trolley | bogie 39 and rotates the screw rod 55,65.
[0041]
【The invention's effect】
As described above, according to the first, second, third, or fourth invention, the apparatus carriage moves on the guide rail by the first drive means, advances the arm by the second drive means, and moves the tip of the arm. The workpiece is gripped by the chuck mechanism, aligned with the press puncher, punched, and then unloaded again by the transport means. As a result, it is not necessary for the conveying means to accurately convey the workpiece, and only the handling device needs to be able to accurately align the workpiece. Therefore, the cost of the apparatus can be reduced.
[0042]
Further, according to the second, third, or fourth invention, the conveying means can use a conventional conveying roller, so that the equipment cost can be reduced. Further, the positioning of the flat steel, which is the workpiece that has been loaded, is positioned in the width direction by the tip of the positioning mechanism being received by the stopper of the positioning mechanism, being pushed in the width direction by the pusher and being received by the width direction stopper.
[0043]
Both the first drive means and the second drive means can be easily and accurately driven by a servo motor, a toothed pulley, a belt, a screw rod, a nut, and the like.
The arm is stably supported by the two support rods.
The chuck mechanism can also hold the flat steel firmly with a simple structure such as an upper chuck, a lower chuck, an opening spring, and hydraulic means.
[0044]
Further, according to the third or fourth invention, the chuck mechanism is attached to the arm via the shock absorbing spring, so that it is possible to prevent the chuck mechanism from being adversely affected by the impact during punching to make a hole.
In addition, according to the fourth invention, the chuck mechanism comes into contact with the workpiece by partially formed teeth, so that the workpiece can be firmly held.
[Brief description of the drawings]
FIG. 1 is a plan view showing an entire facility provided with a handling device according to an embodiment of the present invention.
FIG. 2 is a front view showing a portion of the press puncher in FIG.
FIG. 3 is a side view of FIG. 1;
4 is an enlarged view showing only the handling apparatus of FIG. 1; FIG.
FIG. 5A is a front view of FIG.
(B) is sectional drawing which shows the principal part of (A).
6 is an enlarged view showing the handling apparatus of FIG. 3; FIG.
7 is an enlarged longitudinal sectional view showing a main part of FIG. 6. FIG.
8 is a horizontal sectional view of FIG.
9 is a view of FIG. 8 viewed from the right direction.
10A and 10B show an upper chuck used in the chuck mechanism of FIGS. 7 and 8, wherein FIG. 10A is a bottom view and FIG. 10B is a side view.
11 shows a lower chuck used in the chuck mechanism of FIGS. 7 and 8, wherein (A) is a plan view and (B) is a side view. FIG.
12A is a front view showing only the press puncher of FIG. 2, and FIG. 12B is an enlarged view showing the punch and die of FIG.
FIG. 13 is a perspective view showing a steel segment that is a product having a flat steel as a part, which is a work handled by the handling device according to this embodiment.
[Explanation of symbols]
1 Steel Segment 3 Main Girder 5 Joint Plate 7 Skin Plate 9 Vertical Rib 11 Bolt Hole 21 Flat Steel 23, 25 Transport Roller 24 Press Puncher 26 Roller 26A Roller Motor 27 Tip Stopper 29 Hydraulic Cylinder 31 Pusher 33 Stopper 35 Handling Device 37 Guide rail 39 Device cart 41 Slider 43 Cart frame 45 Motor shaft 47 Toothed pulley 49 Toothed belt 51 Toothed pulley 53 Nut 55 Screw rod 59 Support rod 59A Linear bush 59B Bellows 59B, 65A
61 Front end frame 63 Rear end frame 65 Screw rod 67 Servo motor 69 Motor shaft 71 Toothed pulley 73 Toothed belt 75 Toothed pulley 77 Nut 79 Chuck mechanism 81 Shock absorbing spring 83 Chuck frame 85 Left and right part 87 Upper jaw member 89 Lower jaw Member 91 Opening spring 93 Oilless bearing 95 Hydraulic cylinder 97 Upper chuck 98 Bolt hole 99 Bolt 101 Lower chuck 102 Bolt hole 103 Bolt 105 Tooth 107 Projection 111 Upper mold 113 Punch 115 Lower mold 117 Die 119, 121 Cable bear 125 Pump

Claims (3)

A handling device that carries a workpiece with a conveying means and opens a hole with a press puncher and carries it out with a conveying means, and grips the workpiece and aligns with the press puncher.
A guide rail provided in parallel to the carrying means for carrying in, a device carriage provided on the guide rail so as to be movable, a first drive means for performing the movement of the device carriage, An arm that can be moved forward and backward toward the workpiece on the conveying means, a second driving means that performs this forward and backward movement, a chuck mechanism that is provided at the tip of the arm and grips the workpiece by hydraulic means, and the first driving means, A control means for controlling the second driving means and the hydraulic means,
The workpiece is flat steel, the transport means is a transport roller, and a positioning mechanism for positioning the loaded flat steel is provided near the end of the transport roller for loading. A front end stopper that receives the front end, a pusher that presses the flat bar in the width direction of the transport roller, and a width direction stopper that receives the pressed flat bar, and the first driving means is mounted on the apparatus carriage. A servo motor, a nut that is rotationally transmitted from the servo motor by a toothed pulley and a belt and rotatably attached to the device carriage, and a screw rod that is screwed to the nut and attached along the guide rail. And the arm is slidably supported with respect to the apparatus carriage, and can be moved forward and backward toward the work on the carrying means for carrying in. The second drive means includes a servo motor mounted on the apparatus carriage, and a rotational force transmitted from the servo motor by a toothed pulley and a belt, and the second drive means is rotatably attached to the apparatus carriage. The chuck mechanism includes a top chuck, a bottom chuck that meshes with the top chuck, and a direction to open the top and bottom chucks. An opening spring for energizing, and the control means reciprocates the first drive means or the second drive means to perform a drilling operation of holes arranged in a plurality of staggered areas. A press-type drilling handling device. 2. The press-type drilling handling apparatus according to claim 1 , wherein the chuck mechanism is attached to the arm via an impact absorbing spring. The press-type drilling handling device according to claim 1 , wherein teeth are partially formed in a portion of the chuck mechanism that contacts the workpiece.

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